How do I make my ragdoll have good collisions instead of arms going into other parts of the body?

[SteeN_Scripts (Scripts)]

As the title states, this is what I mean to achieve. There’s also a problem with when the ragdoll is temporary, as the arms just clip through the ground. Here is the footage without the collision parts I scripted:

https://gyazo.com/9bc71508ca8d13ff47dfdad09846e58f

It either gives this result or similar ones. Yet here is the footage when my collision parts are added:

https://gyazo.com/686a8c0036fc4a3a8d2ed3cf6601dd16

Here is the code:

for _,v in pairs(character:GetDescendants()) do
		if v:IsA("Motor6D") then
			local a1 = Instance.new("Attachment", v.Part0)
			local a2 = Instance.new("Attachment", v.Part1)
			a1.CFrame = v.C0
			a2.CFrame = v.C1

			local socket = Instance.new("BallSocketConstraint", v.Parent)
			socket.Attachment0 = a1
			socket.Attachment1 = a2
			socket.LimitsEnabled = true
			socket.TwistLimitsEnabled = true

			humanoid:ChangeState(Enum.HumanoidStateType.Ragdoll)
			humanoid:SetStateEnabled(Enum.HumanoidStateType.GettingUp, false)
			humanoid.PlatformStand = true

			v.Enabled = false
		end
	end
	
	for _,v in pairs(character:GetChildren()) do
		if v:IsA("BasePart") then
			local collide = Instance.new("Part", v)
			collide.Name = "Collision"
			collide.Anchored = false
			collide.CanCollide = true
			collide.Transparency = 1
			collide.CFrame = v.CFrame
			
			local weld = Instance.new("Motor6D", collide)
			weld.Part0 = v
			weld.Part1 = collide
			
			character.Torso.Touched:Connect(function(hit)
				if hit ~= v and v:FindFirstChild("BallSocketConstraint") then
					if v.Velocity.Magnitude > 2 then
						if debounce then return end debounce = true
						local sound = Instance.new("Sound", character.Torso)
						sound.SoundId = "rbxassetid://"..impacts[math.random(1, #impacts)]
						sound:Play()
						game.Debris:AddItem(sound, sound.TimeLength)
						wait(sound.TimeLength)
						debounce = false
					end
				end
			end)
		end
	end

Please do note that the ragdoll works fine (when I remove the collision parts of course) on death, yet it clips when temporary. Hence why I want collisions, to prevent clipping during temporary ragdoll and for more realism.

[4SHN]

you could weld invisible and massless parts to each limb that fit inside the limb, but are like 25% of the thickness (like a bone size) to handle the collisions on death

---

note, setting up the bones may cause flinging
maybe try leaving them enabled both while the character is alive and dead